WO1982003474A1

WO1982003474A1 - Digital control machining method

Info

Publication number: WO1982003474A1
Application number: PCT/JP1982/000104
Authority: WO
Inventors: Ltd Fanuc
Original assignee: Kishi Hajimu; Seki Masaki; Tanaka Kunio
Priority date: 1981-04-04
Filing date: 1982-04-05
Publication date: 1982-10-14
Also published as: EP0075030B1; DE3280199D1; US4559601A; EP0075030A4; KR830009888A; JPS57166606A; EP0075030A1; JPS6336524B2; KR880002554B1

Abstract

A digital control machining method for machining a curved surface (SF) formed by connecting corresponding points (mi, ni) (i=1, 2, ..) on two curves (CV1?, CV2?) via a wire electrode of a wire cut discharge machining apparatus or the tool (BT) of a simultaneous 5-axis controlled milling machine. In this digital control machining method, curve information for specifying the two curves (CV1?, CV2?), tool or wire diameter information, tool or wire correcting direction information, and division information for dividing the respective curves input, the offset position at the next dividing point (mi, ni) of the dividing point (mi-1?, ni-1?) occupied by the tool (BT) or wire at present is obtained with the respective information, the tool (BT) or wire is moved toward the offset position, and the curved surface (SF) is machined.

Description

'#

Incense

Numerical control processing method

Technical field

-The present invention relates to a numerical control machining method, and in particular, applies a curved surface created by connecting corresponding points of δ on two curves to a milling machine or a wire-cut electric discharge machine. Related to a numerically controlled machining method.

Mulberry technique

As is well known, a wire-cut electric discharge machine stretches a wire between an upper guide and a lower 10 guide, and discharges electricity between the wire and the workpiece. The workpiece is produced by machining and the workpiece is fixed on a table, and is moved in the X, Y directions by the command fp to the machining shape and the numerical value illuminator. Is received. In this case, wire the table (work).

15 If it is stretched in the vertical direction, the machining shape of the upper surface and the lower surface of the work will be the same.], And the upper guide can be displaced in the Χ, Υ directions (U axis, V axis). For example, if the upper guide is displaced in the direction perpendicular to the direction of the work and the wire is tilted with respect to the work, the processed shape of the upper and lower surfaces of the work

20 is not the same, so-called taper processing is performed, in which the wire processing surface is inclined.

Fig. 1 is an explanatory view of the taper machining. A wire WR is stretched between the upper guide UG and the lower guide at a predetermined angle to the work WK. I have. Now, Work WK

25 lower surface PL in program shape (work WK upper surface QU And the tapered angle-H between the upper guide UG and the lower guide DG, and the h from the lower guide DG to the lower surface of the WK, each off Se Tsu preparative amount d ₂ of off Se Tsu preparative amounts and the upper guide UG lower guide for the workpiece lower surface PL is

= H «tanC £ — d, (2)

Can be represented by In addition, d is processing 辐.

Therefore, it off Se Tsu preparative amount d !, d ₂ in accordance with the movement of the follower over click is Ruru constant. Cormorants, in Figure 2 if the movement control guide UG on which stretched the word i ya WR As shown in the figure, taper processing with a taper angle can be performed. In the figure, the dotted line and the dot-dash line are the passages of the upper guide UG and the lower guide DG, respectively. If the command H, ii, etc., of the program path, the feed speed on the π-gram path, and the taper angle, the command H, ii, etc., are commanded, the command pass is performed.

However, in the conventional Taber processing, the Taber angle is constant, and the processing cannot be performed so that the Taber angle changes intermittently.In particular, the upper surface shape and the lower surface of the work are not removed. Machining with completely different shapes, for example, machining in which the top surface is a straight line and the bottom surface is an arc, was impossible. By the way, if wire electric discharge machining becomes possible, not only punching dies, but also plastic dies, etc. It can also be used for cavity machining itself, and can widely spread the application fields of NC wire-cut electric discharge machines. Also, if the wire-cut electric discharge machining becomes possible, the similarity of the tool to the torso of the milling tool on a milling machine, as shown in Fig. ³ (a), due to its similarity. It is possible to machine the workpiece WK with *, and if the machining efficiency is significantly improved compared to the conventional method (Fig. 3 (b)), which only processes at the tip of the milling tool. It can be.

From the top, Hon-ki is a curved surface with different top and bottom shapes, and if lightning strikes, the corresponding points of the two curves are connected sequentially. To provide a numerically controlled machining method.

Disclosure of the invention

The present invention is a numerically controlled machining method for machining a created curved surface by connecting corresponding points on two curves. Among the numerically controlled machining methods described above, the numerical control machining method using a milling machine uses two types of curves: curve information that specifies two curves, tool shape information such as tool diameter, tool diameter / forward direction information, and A step of inputting division information for dividing each piece of music, and a step of dividing each curve based on the division information and obtaining division points mi and ni (i = ¹ , 2 ^). And a dividing point mi of one curve and a dividing point of the other curve corresponding to the dividing point mi.A normal vector in the tool radius correction direction at ni ′ is obtained, and the tool shape information described above is obtained. The tool offset vector or the division points mi and ni when the tool position is corrected in the normal direction. Steps for calculating the corresponding tool offset positions mi 'and ni', respectively, the tool offset position mi ', 11 and the tool axis direction (step for performing .1, and the coordinate value of the tool offset position ni' (X, ,, Ζ) and the tool 轴 direction (I, J, K) to calculate each control axis movement data of the numerically controlled machine tool, based on the control axis movement data. The tool has a step of moving the tool relative to the workpiece to perform the curved surface processing, and the numerically controlled processing method by the wire force release processing machine is described in the above “2. Curve information for specifying the track number of the book, wire diameter information including the electric discharge gap in wire-cut electric discharge machining, wire correction direction information, and division of each of the above curves A step for inputting information and a step for dividing each curve based on the division information and calculating a division point mi, ni ('...). A normal vector in the wire correction direction at each of the division point mi and the other division point ni corresponding to the division point mi is performed, and the wire diameter information is used using the wire diameter information. When the wire position is corrected in the yaw offset vector or the normal direction, the gyro correction position mi, (S _x , S _y) corresponding to the division point mi, ni , S ₂ ), ni (S _x ', S, Sz'), respectively, the wire correction position mini '!?

A step for calculating (I, J, K), a point corresponding to the wire correction position m ^ ni ^ using the wire axis direction and the wire correction position, etc. Steps for calculating the positions of the points mi * (u, V), ni * (, y) on a plane parallel to the table surface on which the workpiece is placed: based on s, y, τι, ν Tables: Χ, Υ

C --- PI It has a step of driving the wire in the υ and ν directions together with έ> to perform curved surface processing overnight.

As described above, according to the present invention, it is possible to process a curved surface created by 頫粽粽, in other words, a curved surface having a different upper surface shape and lower surface shape, from the corresponding points of the two curves. Therefore, the application field of the jet electric discharge machine can be remarkably spread. Also, it is possible to perform machining on the workpiece with the body of the blade in the milling process. ¾ 1? Compared to the conventional machining method using the tip of the milling tool, the machining efficiency is remarkable. Can be improved.

'' Brief description of the drawing

1 and 2 are explanatory diagrams of taper machining, FIG. S is an explanatory diagram of milling, and FIG. 4 'is an explanatory diagram of a brushing process according to the present invention. Fig. 6 illustrates the normal vector calculation, Fig. 7 illustrates the offset vector and tool center axis vector, and Figs. 8 and 9 illustrate the control axis position data. theory Akirazu, first 0 Figure is a schematic view of a tapered tool, ^first Figure 1 and the first 2 figures Hor Wa Lee ya mosquito Tsu preparative EDM illustration the present invention, the first 3 figures off La Lee Bed lock view in scan processing, first FIG. ⁴ is a cherub Ο click diagram Wa Lee Yaka Tsu preparative discharge machining.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 4 is an explanatory diagram in the case where the present invention is applied to a milling process. In the figure, Τ 工具 is a tool, CV or CV ₂ is a curve, and is composed of a series of basic shapes such as straight lines and circular arcs. By connecting the corresponding points mi, ni (i = 1, 2, ... :) on each song 穎, the desired curved surface is formed. Naokyoku鎳CVj machining shape of the workpiece upper surface, CV ₂ is a machining shape of the workpiece lower surface.

(1) First, prior to the machining of a curved surface, the curve information specifying the _two curves CV or CV2, the tool diameter r, the tool shape information, and the tool diameter correction to the left or right in the tool advancing direction. Is input as the tool radius correction direction information indicating whether the curve CV ^ CVz is divided. As the division information, the number of divisions, the division pitch, or the permissible error amount is input. The tool diameter compensation direction is commanded by the G function command, G42. If the offset is left, G41 is commanded. If it is right, (J42 is commanded.

(2) one by the steps each curve Te based on division information input in I CVi, the CV ₂ divides each division point mi, determined Mel the ni. If the number of divisions M is input as the division information, the number of division points that divide each song into a '* b can be obtained by the following handicraft from 2-1) to 2-4). (Note that a + b = M).

2-1) is a line segment constituting elements (given song籙the given curve CVi or CV ₂ obtains the length of the called arc as element), sums it like finding the length D of the curve. a

2−2) Find D == D 'O

(a-j-b)

2-3) One end which is the starting point of the division]? Extract the elements including the position of the length of D '. The extraction of this element is を the length of the first element, D ₂ the length of the next element, and so on! ) ₃ ,

, … And

k

Done by asking for 1 £

δ 2-4) For the k-th element, its starting point and-1 ∑ Di (4)

1 = 1

Find the 'point on the kth element. This point is the point at which the given song 籙 is divided into a: b from one end point. ² 1 3 k— 1

In 1) 3) When k = 1, ∑ Di = 0.

• i = 1

If the division pitch N Cw) is given as the division information, the following troubles are required.

2-1) 'Azukakyoku鎳and length D! Ow of CV _2), obtaining the D ₂ Oro).

2-2) 'M »= D _l N, M ₂ Ι 32 ₂ N

2-[delta]) 'Micromax, and compares the Micromax ₂ of large and small, the as the number of divisions the size how ² -. ²⁾ to ² - ⁴⁾ S Te Tsu dividing point mi If you run up of, ni is Be asked.

(3) curve CVi, corresponding division points mi on CV _2, ni is Ν normal Bae click preparative Le Cutter Compensation direction in said division point if obtained, to演箕the iota ^. This normal vector can be obtained by the following steps with reference to FIGS. ^{5 and 5} .

3-1) division points immediately ^preceding and ^one after the dividing point of the mi

Find m _{i +} i. The previous dividing point is already set to tool B

CVP! Is calculated when moving to mi, iii-., So the dividing point mi _{+ 1} may be obtained.

3-2) Find the arc CR! (Fig. 5) passing through the above S points mi-i, mi, mi _{+ 1} and also find the tangent vector ϋ at the division point mi.

δ-δ) Next, the vector V of the surface S F

V = mi— ni (5)

If we find D, the modulo vector N is the cross product of the tangent vector ϋ and the bus direction vector V, ¾ 1? (Fig. Ό),

N = V X U (6)

Yo! ? The normal vector N at the division point mi 'is obtained.

3-4) Similarly, the normal vector N 'of the dividing point ni is obtained. Note that the normal vector N, 1ST is created so that the offset direction of the force tractor is thickened. For example, if the tangent vector 分割 at the division point mi of the curve CV is found in the opposite direction to the previous explanation, the normal vector Ν

Ν = ϋ X V (6 /

I ask.

(4) Then, the tool offset vector from the tool diameter r and the normal vector N, in other words, the division point mi when the tool position is corrected to the normal direction based on the tool diameter Find the position mi ', 11 (Fig. 7) of the tool center 轴 corresponding to Hi, Hi. The position of the tool center axis corresponding to the division points mi and ni is hereinafter referred to as a tool correction position.

(5) If two tool offsets mi 'and ni' are determined, C

T = mi'—Hi '(7)

Then, the tool offset position Hi 'is defined as the tool tip position P (X, Y, Z), and the numerically controlled machine tool is calculated from the tool center vector T and the tool tip combined position P (Χ, Υ, Ζ). Calculate the position data of each control axis. For example, as shown in FIG. 8, the tool Β is rotated in the vertical rotation direction (Β-axis direction) and the horizontal rotation direction (C-axis direction) to control the direction of the tool center axis with respect to the workpiece, and , 5, 2: Consider a simultaneous ^5- axis machine that moves the workpiece in the desired three axes by moving in three axis directions: Tool center axis vectors (I, J, Κ); Tool tip position 箧 coordinates

From (X, Υ, Ζ) and the tool length ^, the orthogonal coordinate 值 (3c, y, z) of the tool rotation center Q and the spherical coordinate value (b, c) indicating the rotation angle position of the tool BT Can be performed from the following equation.

■ 0 (8)

VI ² + J ² + ³

J

y = Y + (9)

VI ² + J ² -fK ^!

c = tan- ¹ () where ^ and are the conversion formulas from the rectangular coordinate system to the spherical coordinate system.

C.V.PI

' is there. That is, as shown in Fig. 9, the orthogonal coordinate system and the spherical coordinate system are assumed with the rotation center Q of the tool Β as the origin, and the tool of length ^ is moved in the Β axis direction (b, c, in the vertical rotation direction). direction (horizontal rotation) to be _C rotate the tool tip Cartesian coordinates (1 _0,,

Κ ₀ ) is

Ιο · sk b · cos c (L $

Jo · sin b · sin c ^

o— J ^ ∞s b

From these 0 $ ~ ^ formula! , C, the formula is

(6) Finally, using the x, 3r, z, b, and _C obtained from equations (8) to ^, the tool BT is moved from the dividing point of CVi to mi and the curve

Move from CV ₂ division point n 1 to Hi.

Goto ¹ , repeat steps (1) to (6) above and curve tool BT

If you ask to be go-between moving CV have CV ₂ off La Lee scan pressure E of the desired curved surface SF is performed.

In step (5), the tool compensation position is described as the tool tip position P (X, Y, Z), but it is not necessary to use the tool tip position. In addition, the tool is described as having a constant cutter diameter.However, even with a tapered tool TBT having a taper TP as shown in Fig. 10, the tool correction position mi 'at mi and ni 11 can be obtained from the tool radius at each position of the tapered tool.

Furthermore, in the embodiments described so far, the description has been given of a 5-axis machine tool having B and C bridles with a tool turning glaze.

0: PI? ⁰ It can also be applied to a 5-axis machine tool with a combination of tool rotation or two rotating tables.

^ The above is an example of the case where the present invention is applied to rice processing. Next, a case where the present invention is applied to wire cutting baking processing will be described. FIGS. 11 and 12 illustrate the present invention.

Illustration der when applied to the I Yakatsu preparative EDM, W ϋ is Wai Ya, CVi, CV ₂ each work WK upper surface of the lower surface and the machining shape song鎳, SF is curved.

(1 / First, input the curve information, the wire diameter information including the discharge gap, the wire correction direction, and the division information before machining the curved surface SF. '

(2) 'then dividing the step (1 had the curves CV Te based on division information input in CV _2, obtains division points m ^ iii.

(3) 'After that, use the same method as steps ( ³ ) and ( ⁴ ) in the case of milling! ? Find the wire correction position mi ', (Fig. 12). Note that the tools in steps ( ³ ) and ( ⁴ ) are read as wires.

(4) 'If the two wire correction positions m ^, n are found, the wire tilt vector T is found from Eq. ( ⁷ ).

(5) The wire correction position m, Hi 'is the coordinates of the projection point on a plane parallel to the table TB on which the work WK is located, in other words, the center line of the wire and the table TB. Calculate the coordinates of the intersection Pc, 'with the ¾ plane (Fig. 12). If the upper guide of the wire-cut electric discharge machine is to be moved in the U and V axis directions along the workpiece _fc plane, the intersection PC is

OVPI It is the intersection of the wire top and the wire center. On the other hand, the intersection Pc 'is the intersection between the underside of the mark and the center of the wire. Now, the coordinates 0, ma) and (3 :,) of the intersection points Pc, P are respectively expressed by the two-axis coordinate values of the division point 111 111, d, and the obscure vector T of the wire d by ) ^ I catcher correction position mi ', Hi' coordinate values _{_{(S x, Sy, S z}} ), if (S, s, s) and

u = S _x + tI

}

V = Sy + t. J

x = S _x + t'I

y == Sy '+ t'J

Yo]? So, t and t are

t = (d-S _z ) / Κ.

(6) 'Finally, the upper guide of the wire-cut electric discharge machine was moved in the υ and ν axis directions by (u, v) obtained from the ^ equation, and the (x, y) was obtained from the ^ equation. the'll table to:! Χ, Υ is moved in the axial direction to mi the sum Yi ya from the curve CV dividing point of, and Ru can trigger Hi moved from the dividing point of the curve CV _2.

Thereafter, by repeating the steps (1) to (6) ′ and moving the wire along the tracks CV, CVz, the wire cut of the desired curved surface SF can be obtained. Processing is performed. .

FIG. 13 is a block diagram when the present invention is applied to milling.

In the figure, reference numeral 101 denotes a division point calculation unit, and the curve CVH

0.V.PI Curve data DC identifying the CV _2, DCVt and split ratio division number M parallel Beauty a: b is input division points _mi, and to computation of the coordinate values of Hi. 102 is a division ratio register, which is registered each time the above-mentioned steps (1) to (6) are completed.

i + 1 → &, M—a → b

Is performed, and the content is updated. Note that i = 1 at the beginning. Numeral 103 denotes a division point coordinate storage register, which is the current division point mi-1, where the current tool is located, the division point mi, ni where the tool moves next, and the next next division point mi _{+ 1} , n _{i +} i are respectively stored. 1 Q4 is the normal base-click door Le Starring箅Yu - Tsu door with 'Oh] ?, Te use of the tool radius compensation direction information given by the G function instruction Sutetsu Breakfast ^3-1:) to ³ - ^4)] Perform the normal vector N, N ^ at the division point mi, ni. 105 is the offset vector calculation unit] ??, the offset vector from the tool diameter r and the normal vectors Ν and Ν ', that is, the tool diameter compensation The coordinate value of the tool correction position m, corresponding to the division point mi, ni at the time is displayed. Numeral ¹ is a tool center axis vector plot, which calculates the tool center axis vector T (I, J, K) from equation (7). ¹ 07 control axis position data演箕Interview - entered Tsu preparative der, tool center賴Be click preparative Le (I, J, K) and the tool tip position location coordinates (chi, Upsilon) and (8) - The position data x, .y, z, b., C of the Χ, Υ, Ζ axis and B, C axis are calculated and output from the formula.

108 is a pulse distributor! ), The position data x, y, z, b, is inputted to c, distribution pulses Xp of each axis by performing the operation known pulse distribution, Yp, Zp, Bp, generates C _n. In addition, each axis distribution panel Scan is input to the servo circuit respectively shown Shirui each axis,军動the motor of each axis and f the tool curve CV There CV ₂ _B, causes connexion movement.

FIG. 14 is a block diagram in the case where the present invention is applied to a wire-cutting system. The same parts as those in FIG. 13 are denoted by the same reference numerals, and detailed description thereof will be omitted.

Reference numeral 201 denotes an intersection coordinate calculation unit, and the intersections Pc and Pc '(the

1 2) The coordinates of the pulse distributor are determined based on ^ and ¾.

Enter 108. The pulse distributor receives Ti, v, x, and y, and receives se pulses _{ρ ρ} , ν _ρ for the υ and V axes, and X, the distribution pulse Xp for the IT axis.

Yp is generated, and the upper guide and the table are driven based on the divided pulse.

In addition, in FIGS. 13 and 14, the D device is constituted by the unit for each value, however, it may be constituted by a computer.

Industrial applicability

As described above, according to the numerically controlled machining method of the present invention, it is possible to machine a curved surface created by connecting the corresponding points of two curved surfaces in a cumbersome manner. Can significantly spread the field of application. Also, it is possible to carry out workpiece machining with the body of the blade in the milling process.¾ Machining with the tip of the milling tool. Can be improved.

O.V.PI

Claims

The scope of the claims

1 By connecting the corresponding points on two curves! In the numerical control machining method for machining a curved surface to be created, the curve information for specifying the two curves, the tool diameter information, the tool shape information, the tool diameter correction direction information, and the curves are divided. A step for inputting the division information; a step for dividing each fitting based on the division information to obtain a division point mi, ni (i = ¹ , 2,...); One curve The normal vector in the tool radius correction direction at the division point mi of the above and the division point ni of the other piece corresponding to the division point mi is obtained, and the tool shape information is used using the tool shape information. Steps for executing the tool offset positions mi 'and ni' corresponding to the division points mi and ni when the tool position is offset in the vector or the normal direction, respectively, as described above. Step for calculating the tool axis direction (1, J, K) from the tool compensation position mi ', ni', coordinates of the tool compensation position ni ' A step of executing the control axis movement data of the numerically controlled machine tool using (Χ, Υ, Ζ) and the tool axis direction (I, J, K), and a tool based on the control axis movement data A numerically controlled machining method characterized by having a step for performing a curved surface processing by moving a tool relatively to a workpiece.

Of the control axis movement data, the movement data of the orthogonal coordinate axes is x, y, z, the movement data of vertical rotation and horizontal la rotation are b, c, and the tool length is ^, respectively.

OfiPI · y = Y + _/ — ± ====-'-e

I ² + J ² + K ²

zb

c -tan to one ¹ (Ding)! ), And x, y, z, b, c are calculated, and the numerically controlled machining method according to claim 1, wherein

i In a numerically controlled machining method for machining a curved surface created by connecting corresponding points on two tracks, the curve information for specifying the two tracks and the wire Steps for inputting wire diameter information including an electric discharge gap in wire electric discharge machining, wire correction direction information, and division information for dividing each of the tracks, and based on the division information, Step for dividing the fitting and calculating the division points mi, ni (i = ¹ , 2,… :), the division point mi of one curve, and the other division corresponding to the division point mi The normal vector in the wire correction direction at the point ni is performed, and the wire offset vector or the normal vector is obtained by using the wire diameter information. When the wire position is corrected in the direction, the steps for performing the 補正 -corrected positions mi 'and ni' corresponding to the division point mi, respectively. The word i ya compensation position mi ', ni' scan STEP for calculating the wire Ya axis yo, 該Wa Lee Ya prior Te use the Kiwa Lee Ya axis direction and the word i ya corrected position or the like

r _ ΓOι.: V The position g of the point m (ϋ, ν), ni (X, Υ) on a plane parallel to the table surface on which the workpiece is placed, corresponding to the correction positions mi ', and ni' The table is performed based on the steps to be performed, X, ϋ, ϋ, and V: Steps for opening and closing the table in the 、 and directions, and driving the wire in the 曲 and V directions. A numerically controlled machining method characterized by having a loop.

4. When the Ζ 轴 coordinate values of the division points mi and ni are d and d ', respectively, the coordinate values (u, v) and (x, y) of the points mi * and ni are

u = Sx + tI

v = Sy + t. J

x = Sx'- t, I

7 = Sy '-J

4. The numerical control machining method according to claim 3, wherein u, v, 3c, y are performed by t == (d−S _Z ) ZK.

c: ^r .pi